The jacking and tire-changing information is at the beginning of section 6 in the owner's manual, 6-2 to be exact.
I believe that the general consensus is that wear on the driveline components due to parking the car by just putting it into Park is minimal. However, when parking on a hill, I prefer to use the parking brake so that less strain is placed on the driveline just in case. Not like you're hurting anything by doing that.
Also, I figure if say you're parked in the street, on a steep hill, and someone smashed into your car while you're parked, the handbrake will be there to first stop it rolling as far, and second, stop it from rolling down the hill if the impact disconnects a driveshaft or something.